Release update 2026-11-05: 5760 sessions, instructions, annotations (part 183)

actions/locomanipulation/LM02/session_016/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 3)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM02",
+ "instruction": "Take an object off the waist-height shelf, carry it across the room, and set it down on the floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 149.099889,
+   "video": "left_eye",
+   "video_t_start": 0.04234364177586792
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dc0be46c-e331-4db4-9220-71303bb94564",
+   "segment": "segment1",
+   "action": "LM02",
+   "quality": "valid",
+   "start_s": 10.316,
+   "end_s": 145.187,
+   "t_start": 10.3583,
+   "t_end": 145.2293,
+   "instruction": "Take an object off the waist-height shelf, carry it across the room, and set it down on the floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+  }
+ ]
+}

actions/locomanipulation/LM02/session_016/cameras/gsi_online_calibration.json

@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.394
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "gate_fail": [],
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+   "inliers": 1826,
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+    -0.2075,
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+   "split_deg": 0.0486,
+   "usable": true
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+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_after": 0.498,
+   "held_out_px_before": 9.733,
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+   "position_mm": [
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+    -1.9
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+   "usable": true
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+  "left_front": {
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+    "left_eye",
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+   "split_deg": 0.004,
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "df0bb25d4a4943c7ba8183ad8f4cc5f4cffe2819674ba3684ed5beb7bae547af",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
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+ "input_fingerprint": "9a784452b152bbc6",
+ "kind": "online_calibration",
+ "output_sha256": "f53dc9e9035d6d9ee7b26e8029d29d0c260d0813c9f0c9da20e2e85e4830bf8a",
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+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
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+  "left_eye": 49.124,
+  "left_front": 52.454,
+  "right": 42.469,
+  "right_eye": 48.691,
+  "right_front": 49.657
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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actions/locomanipulation/LM02/session_016/cameras/slam.npz

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actions/locomanipulation/LM02/session_016/meta.json

@@ -263,44 +263,44 @@
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
  "canonical": {
-  "generated_at_utc": "2026-10-27T06:43:09.388593+00:00",
+  "generated_at_utc": "2026-10-28T23:22:18.522409+00:00",
   "generated_by": "scripts/canonicalise_dataset.py",
   "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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    [
@@ -312,20 +312,20 @@
   ],
   "block": "20261026-morning",
   "block_assignment": "trc",
-  "tilt_removed_deg": 0.6736075582400546,
+  "tilt_removed_deg": 0.6697930607742368,
   "plane_status": "ok",
   "floor": {
    "sole_marker_p1_mm": 27.5,
-   "headtop_p95_mm": 1654.9
+   "headtop_p95_mm": 1654.8
   },
   "gravity_check": {
    "static_samples": 2108,
    "g_world_mean_m_s2": [
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-    9.7895
+    0.0013,
+    -0.2024,
+    9.7896
    ],
-   "tilt_from_z_deg": 1.218,
+   "tilt_from_z_deg": 1.184,
    "tilt_from_z_deg_before_levelling": 1.317,
    "magnitude_m_s2": 9.7917
   },
@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-27T07:58:36.437139+00:00",
+  "generated_at_utc": "2026-10-29T05:00:46.175942+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -353,8 +353,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -397,8 +397,8 @@
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
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-    "p5": 11.8
+    "median": 15.5,
+    "p5": 11.6
    },
    "frames_checked": 597,
    "stature_mm": 1614.2
@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 8.36,
     "Q_rotvec": [
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-     0.4392,
-     0.86995
+     -0.06405,
+     -0.02595,
+     0.12844
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 171.0,
-    "opposite_sign_bend_deg": 39.8,
+    "wrist_bend_deg_median": 33.9,
+    "opposite_sign_bend_deg": 148.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.02,
     "hand_vs_marker_frame_deg": {
-     "before": 179.52,
+     "before": 8.56,
      "after": 2.02
     },
     "markers_on_wrist": [
@@ -433,15 +433,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -166.06,
+     "twist_moved_deg": -30.97,
      "wrist_twist_deg_after": {
-      "median": -11.81,
+      "median": -0.0,
       "iqr": [
-       -20.5,
-       -4.1
+       -8.7,
+       7.7
       ]
      },
-     "wrist_total_deg_median_after": 17.3,
+     "wrist_total_deg_median_after": 13.7,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -452,19 +452,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 22.76,
     "Q_rotvec": [
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-     0.0,
-     -0.0
+     0.36589,
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+     -0.11719
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 19.4,
-    "opposite_sign_bend_deg": 169.4,
+    "wrist_bend_deg_median": 35.0,
+    "opposite_sign_bend_deg": 153.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.02,
     "hand_vs_marker_frame_deg": {
-     "before": 4.02,
+     "before": 23.25,
      "after": 4.02
     },
     "markers_on_wrist": [
@@ -472,9 +472,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": -31.91,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
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        12.8
@@ -491,16 +491,130 @@
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     "frames_used": 1499
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-   "generated_at_utc": "2026-10-28T06:50:36.453108+00:00",
+   "generated_at_utc": "2026-10-29T05:00:49.404574+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 27.47,
+    "offset_rotvec": [
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+     -0.2409,
+     0.1165
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+    "dev_deg": {
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+     "p90": 30.22
+    },
+    "samples": 4221,
+    "accepted": 3785,
+    "wrist_pos_err_mm_median": 33.5,
+    "per_camera": {
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+      "accepted": 3785,
+      "gate_deg": 30.0,
+      "offset_deg": 27.47,
+      "tier": "primary",
+      "dev_deg_median": 15.01,
+      "wrist_pos_err_mm_median": 33.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15278,
+     "interpolated": 1884,
+     "mean_hand": 729,
+     "no_body_fit": 9
+    },
+    "observed_fraction": 0.9588,
+    "observed_fraction_of_valid": 0.9593,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.06,
+     "smplx": 1.31
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.4,
+      "p90": 5.8
+     },
+     "registered": {
+      "median": 4.7,
+      "p90": 6.4
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
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+     0.2268,
+     -0.0202
+    ],
+    "dev_deg": {
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+     "p90": 37.09
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+    "samples": 4309,
+    "accepted": 3519,
+    "wrist_pos_err_mm_median": 61.2,
+    "per_camera": {
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+      "accepted": 3519,
+      "gate_deg": 30.0,
+      "offset_deg": 33.62,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 61.2
+     }
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+     "mean_hand": 969,
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+    "observed_fraction": 0.9454,
+    "observed_fraction_of_valid": 0.9458,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.98,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:32:01.386100+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM02/session_016",
   "family": "locomanipulation",
   "primitive": "LM02",
   "source_session": "20261026/LM02/20261026_045801_session2"
  },
+ "task": {
+  "primitive": "LM02",
+  "instruction": "Take an object off the waist-height shelf, carry it across the room, and set it down on the floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
+ },
  "objects": [
   {
    "name": "BigBox",
@@ -514,12 +628,6 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
-  {
-   "name": "Cushion",
-   "object_type": "Cushion",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "Table",
    "object_type": "Table",

actions/locomanipulation/LM02/session_016/motions/hands_mano.npz

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actions/locomanipulation/LM02/session_016/motions/head_rig.npz

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actions/locomanipulation/LM02/session_017/annotations.json

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+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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+  }
+ ]
+}

actions/locomanipulation/LM02/session_017/cameras/gsi_online_calibration.json

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actions/locomanipulation/LM02/session_017/cameras/slam.npz

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actions/locomanipulation/LM02/session_017/meta.json

@@ -263,44 +263,44 @@
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@@ -439,15 +439,15 @@
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@@ -496,16 +496,130 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM02/session_017",
   "family": "locomanipulation",
   "primitive": "LM02",
   "source_session": "20261026/LM02/20261026_050113_session3"
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+ },
  "objects": [
   {
    "name": "BigBox",
@@ -519,12 +633,6 @@
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    "pose_frame": "rigid_body"
   },
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